CN101738161B - Equipment and method for measuring six-dimensional pose of moving object - Google Patents

Equipment and method for measuring six-dimensional pose of moving object Download PDF

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Publication number
CN101738161B
CN101738161B CN2008102287994A CN200810228799A CN101738161B CN 101738161 B CN101738161 B CN 101738161B CN 2008102287994 A CN2008102287994 A CN 2008102287994A CN 200810228799 A CN200810228799 A CN 200810228799A CN 101738161 B CN101738161 B CN 101738161B
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laser
receiver
coordinate system
transit
pose
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CN101738161A (en
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罗振军
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Priority to PCT/CN2008/073165 priority patent/WO2010054519A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G01C1/02—Theodolites
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to equipment and a method for measuring the six-dimensional pose of a moving object. The equipment consists of one or more theodolites, one or more receivers and a calculating and processing unit; the horizontal rotating angle and each pitching rotating angle of each theodolite are controllable; the theodolites are provided with laser transmitters and can transmit one or more laser structural light which projects to the receiver; and the receiver comprises a projecting panel and a laser transmitter. The calculating and processing unit establishes an equation set according to a laser spot image acquired by using the rotating angles of the theodolites and the receiver and can obtain the six-dimensional pose of the moving object by solving the equation set. The invention can continuously measure objects moving in a larger space, has the advantages of high precision, low cost, convenient arrangement and the like and can replace a laser tracer, a coordinate measuring machine and expense pose measuring equipment such as indoor GPS (Global Position System) and the like.

Description

A kind of equipment and method of measuring six-dimensional pose of moving object
Technical field
The present invention relates to measure the equipment of moving object six-dimensional pose in than large space, specifically a kind of based on laser beam linear characteristic and parallel institution pose measurement principle, adopt image processing techniques to realize equipment and method that the motion platform six-dimensional pose is measured.This can be widely used in the occasion that needs are realized translation motion, can substitute expensive laser tracker and coordinate measuring machine.
Background technology
To the three-dimensional position of moving object (x, y, z) and 3 d pose (α, beta, gamma) carry out high-precision measurement and demand widely arranged in industry member.
In plurality of applications; Adopt the mechanical type measurement mechanism just can deal with problems; For example utilize the joint encoders of equipment self to carry out forward kinematics solution; If it is lower that equipment itself does not have the precision of scrambler or scrambler and mechanical hook-up, then can adopt traditional three coordinate measuring machine and portable articulated type coordinate measuring machine to measure.But the measurement range of coordinate measuring machine is general very limited, and is difficult to on-line measurement moving object.
In order to measure six-dimensional pose, adopt overall positioning system usually at the object of grand movement.According to the height of measuring accuracy, overall positioning system can be divided into laser tracker, indoor GPS, based on the equipment of laser navigation method, based on the equipment of laser beacon method with based on the equipment of visual processes.
Laser tracker adopts the orientation of transit survey receiver, and adopts the laser interference principle to measure the distance between receiver and the transit, have the high and high remarkable advantage of measuring accuracy of SF, but equipment is very expensive.
The indoor GPS technology has multiple, the scheme of most typical a kind of scheme U.S. Arc Second company, and at least two generating lasers of floor mounted, each transmitter produces two laser planes that become fixed angles.Transmitter does not stop to horizontally rotate at a high speed; Gyro frequency is greatly about about 3000 rev/mins; Sensor on the receiver can obtain the correct time of laser plane process, and receiver calculates the position and the angle of receiver loca according to the next light time characteristic parameters of transmitter projection.The precision of indoor GPS is higher, and can measure the position of a large amount of receivers simultaneously, and the positional accuracy measurement of all receivers in 100m * 100m measurement space can reach the 0.1mm magnitude.But because this technology adopts the intermittent scanning mode; The time of the inswept same sensor of different laser planes is poor if having time; Therefore be more suitable for stationary body or the slowly measurement of mobile object; If be used for the measurement of high-speed moving object, must increase the quantity of laser plane, or adopt the generating laser of hypervelocity rotation.
Be mainly used in the location of the automatic travelling car of factory based on the equipment of laser navigation method with based on the equipment of laser beacon method, be mainly used in planimetric position and orientation location at present.The exemplary of laser navigation method is that the laser station that can horizontally rotate is installed on travelling car, and laser station is launched laser beam, and the catoptron more than three is installed on the ground, and the catoptron installation site is known.Ground catoptron is made up of several corner prisms usually, and the laser that projects on the catoptron can return along incident direction, but with the incident laser segment distance that staggers.Laser station does not stop rotation sweep on the travelling car, if having laser to return three angles, then can calculate the position and the orientation of travelling car.The laser beacon method is opposite with the laser navigation method; At the sensor of installing on the dolly more than three; And the sensor more than three, can calculate the position and the orientation of travelling car if can receive laser at a plurality of laser stations that can horizontally rotate of floor mounted.In order to realize continuous coverage, the level angle of laser station is followed the motion of dolly usually automatically.Laser navigation method and laser beacon method price are relatively cheap, and its principle can be extended to the six-dimensional space pose measurement, but do not appear in the newspapers as yet at present.In these class methods, sensor is the switching mode sensor, i.e. having or not of a detection signal, and the accurate position of the drop point of measuring laser beam on sensor not, so measuring accuracy is lower.On the other hand; Adopt the transit that to launch laser and can judge the photoelectric receiving target whether laser hits the bull's eye in the building operation industry transit commonly used method that crosses; Can be used for accurately measuring the position and the attitude of fixed object; But this measuring system lacks the function of pursuit movement object, therefore can't measure the pose of moving object.
Overall location technology based on visual processes has multiple; Most typical is the PosEye technology of Sweden MEEQ company; Through in measurement environment, arranging the luminous sign thing of a plurality of location awares; And in moving object, settle camera, calculate the pose of moving object according to the coordinate of luminous sign thing in the image that camera is taken.When measuring distance during greater than 10 meters, the luminous sign thing adopts the lasing fluorescence diode of power greater than 100mW usually, and the laser beam divergence of lasing fluorescence diode is generally greater than 30 °, to guarantee that camera can receive enough light.But the resolution of this technical requirement image-generating unit is very high, also is difficult to obtain higher measuring accuracy at present.Another kind of common technique is a binocular vision technology; High bright label promptly is installed on mobile object,, is further calculated the pose of moving object through the position that the binocular vision principle is calculated label; This technology is subject to the resolution of image-generating unit equally, and the precision of measurement is lower.
Cost high precision overall situation positioning equipment lower, that do not need the high resolving power camera system does not also appear in the newspapers at present.
Summary of the invention
In order to overcome the deficiency that cost in the prior art is high, need the overall positioning equipment of high resolving power camera system; The objective of the invention is to propose the measurement six-dimensional pose of moving object that a kind of cost is lower, do not need the high resolving power camera system; Thereby realize the equipment and the method for overall situation location, adopt the present invention can substitute expensive equipment such as laser tracker, coordinate measuring machine and indoor GPS.
Technical scheme of the present invention is following:
Measure the equipment of six-dimensional pose of moving object, be made up of calculation processing unit, at least one receiver and at least one transit, calculation processing unit and transit are installed on the fixed bottom boundary; Receiver is installed in the moving object to be measured; Transit and receiver are through the communications cable or communication and calculation processing unit communication, and transit links to each other through laser optical path with receiver;
Wherein: said transit has at least one and horizontally rotates degree of freedom and at least one pitch rotation degree of freedom; Transit comprises drive unit, in order to control its level angle and pitching corner; Also comprise corner measuring apparatus, in order to measure corner; At least one generating laser is installed on each transit; Said transit number is 1 o'clock, and the generating laser number of installing on the transit is at least 2; Said each generating laser is launched laser structure light; This laser structure is the laser point bundle of at least one light only; Or the laser wire harness at least one strip light plane; Or the laser wire harness at least one sectored light plane, or the laser circular beam at least one light face of cylinder, or the beam combination of above-mentioned multiple different laser structure light;
In addition; The pitching degree of freedom of said transit can be fixed or be disassembled; Obtain having a simplified structure that horizontally rotates degree of freedom, at least one generating laser is installed above, each generating laser is launched the laser wire harness on a sectored light plane;
Said receiver comprises at least one projection panel and at least one image-generating unit, and the corresponding at least image-generating unit of each projection panel; The distance of the size of projection panel and image-generating unit and projection panel all is in one of the percentage of the maximum measurement range of said equipment magnitude～per mille order magnitude range; Suppose that the device measuring scope is 10m, then the projection panel size is not more than 100mm * 100mm, and the distance of image-generating unit and projection panel is within 100mm; Wherein projection panel is smooth reflective mirror, or shaggy scattering reflector, or the scattering light-passing board; The shape of projection panel is selected from the plane, or curved surface, or a plurality of planar combination, or the combination of a plurality of curved surfaces;
Said receiver is made up of projection panel and image-generating unit, and said image-generating unit is in below, the top or inner of projection panel; Image-generating unit comprises image-forming electron device and the imaging lens between image-forming electron device and projection panel; Wherein the image-forming electron device is selected from Position-Sensitive Detector, charge-coupled image sensor, charge injection device or based on the optical imaging device of complementary metal oxide semiconductor (CMOS);
Said receiver is made up of projection panel and image-generating unit; Said image-generating unit is directly installed on the projection panel surface; Comprise at least one sensitometry device, the sensitometry device is selected from Position-Sensitive Detector, charge-coupled image sensor, charge injection device or based on the optical imaging device of complementary metal oxide semiconductor (CMOS).
Adopt the method for said device measuring six-dimensional pose of moving object, realize through automatic tracking control method, transit pose scaling method, image-generating unit image processing method, image-generating unit scaling method and synchronous triggering measuring method; Specifically:
-position angle through automatic tracking Control step control transit; Make the generating laser of transit point to the projection panel of receiver all the time; Generating laser emission laser lines or laser plane are incident upon on the projection panel, produce laser facula or laser stripe;
-obtain the pose of transit through the demarcation of pair warp and weft appearance pose with respect to the global coordinate system that fixes on the ground, further the rotational transform matrix through transit obtains generating laser emitted laser lines or the math equation of laser plane in global coordinate system;
-through image-generating unit to the laser facula on the projection panel or laser stripe is taken and Flame Image Process, obtain the pixel coordinate of laser facula or the reflection of laser stripe in image-generating unit;
-through the demarcation of image-generating unit being obtained on the image-generating unit each pixel coordinate, utilize one-to-one relationship acquisition laser facula or the laser stripe of pixel coordinate and receiver coordinate system position local coordinate value with respect to the receiver coordinate system with respect to the position of receiver coordinate system;
-obtain image-generating unit with respect to the six-dimensional pose of global coordinate system and demarcate the laser facula that obtains or laser stripe through setting the receiver coordinate system with respect to the world coordinates value in the global coordinate system;
-straight line or plane math equation and the image-generating unit in global coordinate system of setting up the laser structure photogenerated through the synchronous triggering measuring process demarcated the laser facula that obtains or laser stripe with respect to the restriction relation between the world coordinates value of global coordinate system, finds the solution restriction relation and draws the pose of receiver coordinate system with respect to global coordinate system;
Wherein: the receiver coordinate system is O '-X ' Y ' Z ', is fixed on the receiver, and global coordinate system is O-XYZ, fixes on the ground.
Image-generating unit scaling method according to the invention is to demarcate projection panel and image-generating unit position and the attitude with respect to the receiver coordinate system through external unit;
The outside demarcation or the self-calibration dual mode adopted in the demarcation of said transit pose; Outside scaling method is demarcated by external unit; The self-calibration method is through fixing receiver, let the mode of rotation of transit obtain transit with respect to the fixing pose of global coordinate system in ground; Be specially: receiver is fixed; Make the level angle of transit choose one group of above different array with the pitching corner; Every group of numerical value for choosing is all carried out following steps: the fixing corner of transit; Transit sends to calculation processing unit with level angle and pitch angle data, and calculation processing unit calculates the math equation of laser lines or laser plane with respect to the pose of global coordinate system and level angle and pitch angle data according to transit; Simultaneously receiver will be taken the laser facula of acquisition and send to calculation processing unit with respect to the local coordinate value of receiver coordinate system; Calculation processing unit is variable with the receiver coordinate system with respect to the six-dimensional pose of global coordinate system, obtains the function expression of laser facula in global coordinate system according to the pose coordinate transform; Calculation processing unit is positioned at the constraint condition on laser lines or the structured light plane according to laser facula; With function expression substitution laser lines or the math equation on structured light plane of laser facula in global coordinate system; Foundation is a plurality of equations of known variables with the transit six-dimensional pose; Each above-mentioned steps of carrying out obtains several equations; The synthetic system of equations of the equation that all corner arrays are corresponding is found the solution this system of equations and is obtained all transits with respect to the fixing pose of global coordinate system in ground;
The concrete steps that said synchronous triggering is measured are: calculation processing unit sends trigger pip and gives transit and receiver respectively; Level angle and pitch angle data that transit will trigger constantly send to calculation processing unit, and calculation processing unit calculates the math equation on laser lines or structured light plane with respect to the pose of global coordinate system and level angle and pitch angle data according to transit; Simultaneously receiver will trigger the laser facula that calculates acquisition constantly and send to calculation processing unit with respect to the local coordinate value of receiver coordinate system; Calculation processing unit is variable with the receiver coordinate system with respect to the six-dimensional pose of global coordinate system, obtains the function expression of laser facula in global coordinate system according to coordinate transform; Calculation processing unit is positioned at the constraint condition on laser lines or the structured light plane according to laser facula; With function expression substitution laser lines or the math equation on structured light plane of laser facula in global coordinate system; Foundation is the system of equations of known variables with receiver coordinate system six-dimensional pose, finds the solution this system of equations and obtains three-dimensional position and the 3 d pose of receiver coordinate system with respect to global coordinate system;
The mode that described synchronous triggering metering system also can adopt continuous coverage and measured value interpolation to combine replaces; Be that calculation processing unit does not send trigger pip to transit and receiver; And transit sends to calculation processing unit with the latest data of the level angle and the angle of pitch continuously, and receiver also will calculate the laser facula that obtains continuously and send to calculation processing unit with respect to the up-to-date local coordinate value of receiver coordinate system.Numerical value that the calculation processing unit basis receives and the time interpolator that receives numerical value go out the numerical value of corresponding certain fixed time, and the numerical value that further goes out according to interpolation is set up system of equations and solved the six-dimensional pose of receiver coordinate system in global coordinate system.
The performing step of said automatic tracking Control is specially: by calculation processing unit according to the current location of receiver and before the position estimating receiver with the position that arrives; Calculate the new angle position that all transits need arrive; And the instruction of new corner sent to corresponding transit, transit is according to the new angle position of new its level angle of corner instruction control and the arrival of pitching corner to needs.
The present invention has following characteristics:
1. the present device cost is low and measuring accuracy is high.The laser structure light of the present invention through more than two realizes adopting parallel connection to measure, and compares with adopting the single laser structured light laser tracker of measuring of connecting, and do not need high-precision laser interferometer, so cost reduces greatly; The present invention adopts synchro measure mode or poll metering system, compares with the indoor GPS system that adopts the intermittent scanning metering system, can measure the higher object of movement velocity; The present invention adopts short-range vision capture and processing; Distance between projection panel and the image-generating unit has only one of percentage of maximum measurement range or per mille; With the PosEye compared with techniques that adopts long distance vision to catch and handle; Do not need high-resolution vision sensor, and bearing accuracy is higher.
2. the present invention can carry out self-calibration fast in the erecting stage, therefore can increase transit and receiver easily, also can remove redundant transit easily.
3. the present invention can enlarge measurement range and the accuracy and the robustness that improve measurement result through the quantity that increases transit and receiver.For example three transits are arranged in around the moving object to be measured according to triangle, moving object is being reduced than the pose measurement accuracy fluctuating range in the large space.
4. with the measurement grid of three transits, can realize the transition between the different measuring grid, realize the large scale and high accuracy measurement through the coordinate handover mechanism as a similar honeycomb.
5. the present invention can install measuring staff or three-dimensional laser scanner on receiver, thereby can the unapproachable place of surveyor's transit emission laser beam.
6. laser instrument emitted laser of the present invention drops on the receiver all the time, and the probability that drops into human eye is very low.Even get into human eye once in a while, because laser can be selected infrared band, and power is very low, and human eye is had no injury.
Description of drawings
Fig. 1 is the synoptic diagram of first instance of six-dimensional pose measuring equipment;
Workflow synoptic diagram when Fig. 2 carries out actual measurement for the six-dimensional pose measuring equipment;
Fig. 3 is the synoptic diagram of second instance of six-dimensional pose measuring equipment;
Fig. 4 is the synoptic diagram of the 3rd instance of six-dimensional pose measuring equipment;
Fig. 5 is the synoptic diagram of the 4th instance of six-dimensional pose measuring equipment;
Fig. 6 is the synoptic diagram of the 5th instance of six-dimensional pose measuring equipment;
Fig. 7 is the synoptic diagram of the 6th instance of six-dimensional pose measuring equipment;
Fig. 8 is the synoptic diagram of the 7th instance of six-dimensional pose measuring equipment;
Fig. 9 is the synoptic diagram of the 8th instance of six-dimensional pose measuring equipment.
Embodiment
Below in conjunction with accompanying drawing the present invention is made further detailed description.
Be illustrated in figure 1 as first instance of the six-dimensional pose measuring equipment that the present invention proposes, this equipment is made up of a calculation processing unit 1, a receiver 2 and three transits 3,4,5.Three transit 3,4,5 fixed installations are arranged to triangle on the ground usually.Receiver 2 perhaps is directly installed in the six-dimensional pose moving object to be measured 8 through web member 7.Receiver coordinate system 20 is O '-X ' Y ' Z ' among the figure, be fixed on the receiver, and global coordinate system 10 is O-XYZ, fixes on the ground, and moving object coordinate system 80 is Om-Xm Ym Zm, is fixed in the moving object 8.Because receiver coordinate system 20 is fixing all the time with respect to the pose of moving object coordinate system 80; And can obtain through scaling method, the six-dimensional pose of therefore measuring moving object 8 can obtain through the six-dimensional pose of measurement receiver coordinate system 20 with respect to global coordinate system 10.
Transit 3,4,5 all has and horizontally rotates and two rotational freedoms of pitch rotation, and the level angle of each transit and pitching corner are controlled through drive unit, and the corner value can be measured fast.Drive unit adopts servomotor usually, also can adopt the higher piezoelectric ceramic motor of precision, and corner measuring apparatus is installed on the transit, adopts high-precision encoder usually, and encoder resolution all reaches 1 " magnitude with the measurement repeatable accuracy.Be separately installed with a generating laser 30,40,50 on the transit 3,4,5.Generating laser 30,40,50 is all launched at least one laser beam, is respectively 31,41,51.In practical application, have better accuracy and robustness for making measurement result, the laser beam that can let each two of generating laser emission or more be parallel to each other.Laser instrument is installed on the transit, adopts semiconductor laser usually, and wavelength is selected the wave band of red visible light or infrared light usually, and like 635nm, the output power of laser instrument is generally less than 5mW.
Receiver 2 mainly comprises a projection panel 21 and an image-generating unit 22.The distance of the size of projection panel and image-generating unit and projection panel all is one of the percentage of the maximum measurement range of said equipment magnitude～per mille magnitudes; Present embodiment device measuring scope is 10m, and then the projection panel size is not more than 100mm * 100mm, and the distance of image-generating unit and projection panel is within 100mm.Projection panel 21 in this instance adopts the hyperboloid reflective mirror in the similar 360 degree panorama cameras.Image-generating unit 22 is in the below of projection panel 21 usually, is connected mutually with projection panel 21 through structural member 29.Structural member 29 can adopt transparent material, perhaps the opaque material of hollow out.Image-generating unit 22 comprises an imaging lens 221 and an image-forming electron device 222.The image-forming electron device can be an optical imaging device arbitrarily such as PSD, CCD, CMOS.When the imaging electronic installation adopts PSD, because single PSD corresponding two or more luminous points simultaneously can adopt a plurality of PSD to form arrays.
The lens center of imaging lens 221 is placed on the bi-curved downside focus usually, is reflected to down focus, the lens center of the camera lens 221 that promptly forms images from the light of entire environment directive hyperboloid upside focus.Though the corner of transit can be controlled; But the very difficult last focus that guarantees the laser beam ability directive hyperboloidal mirror that transit sends all the time; Therefore the reflective mirror scattering reflector that normally has certain roughness is like typical bright shellfish reflector (Lambertian reflector).Projection panel 21 can obtain through demarcating accurately with the position and the attitude of image-generating unit 22 with respect to receiver coordinate system 20.
The shape of projection panel 21 also can be plane or other curved surfaces, and when projection panel 21 adopted flat shape, image-generating unit 22 was recommended to adopt the layout based on the Scheimpflug principle, can on a large scale, obtain distinct image.Generally include the logical filter glass of band in the imaging lens 221, only allow the laser of the laser wavelength that adopts to pass through, reduce ambient light effects, thereby improve image.
Calculation processing unit 1 links to each other with transit 3,4,5 with receiver 12 through the communications cable 12,13,14,15.
The method that the present invention measures six-dimensional pose of moving object combines the groundwork process of said equipment to be described below in the lump:
Position angle through automatic tracking Control step control transit; Make the generating laser of transit point to the projection panel of receiver all the time; Generating laser emission laser lines or laser plane are incident upon on the projection panel, produce laser facula or laser stripe.As shown in Figure 1, on the projection panel that generating laser 30,40, the 50 emitted laser bundles 31,41,51 on the transit 3,4,5 drop on the receiver, form corresponding laser facula 32,42,52.According to present small semiconductor laser technical merit, in the 10m distance, the diameter of laser facula is usually less than 0.5mm, and in the 100m distance, the diameter of laser facula is usually less than 5mm.
Demarcation through pair warp and weft appearance pose obtains the pose of transit with respect to the global coordinate system that fixes on the ground again, and further the rotational transform matrix through transit obtains generating laser emitted laser lines or the math equation of laser plane in global coordinate system.On the one hand, transit 3,4,5 can adopt external unit to measure in advance with respect to the pose of absolute coordinate system 10, and the self-calibration method that also can adopt this patent to introduce at the back obtains.Combine the measured value of transit level angle and pitching corner just can obtain the equation of three laser point bundles 31,41,51 in global coordinate system 10 again, every corresponding two equations of laser beam.Suppose that three laser point bundles, 31,41,51 corresponding algebraic equations are respectively:
a 31 x + b 31 y + c 31 z + d 31 = 0 e 31 x + f 31 y + g 31 z + h 31 = 0
a 41 x + b 41 y + c 41 z + d 41 = 0 e 41 x + f 41 y + g 41 z + h 41 = 0
a 51 x + b 51 y + c 51 z + d 51 = 0 e 51 x + f 51 y + g 51 z + h 51 = 0
The coefficient of above-mentioned equation only depends on the pose of transit 3,4,5 in global coordinate system 10 and the outer corner measurement value of transit 3,4,5.
On the other hand, to the laser facula on the projection panel or laser stripe is taken and Flame Image Process, obtain the pixel coordinate of laser facula or the reflection of laser stripe in image-generating unit through image-generating unit; Through the demarcation of image-generating unit being obtained on the image-generating unit in the pixel coordinate each pixel, utilize one-to-one relationship acquisition laser facula or the laser stripe of pixel and receiver coordinate system local coordinate value with respect to the receiver coordinate system with respect to the position of receiver coordinate system.As shown in Figure 1, handle through the image that image-forming electron device 222 is taken, can obtain the coordinate of laser facula on image-forming electron device 222.According to the pinhole imaging system principle, laser facula and its line between the reflection on the image-forming electron device 222 must pass through the lens center of imaging lens 221.Because projection panel 21, imaging lens 221 and image-forming electron device 222 are fixed with respect to the position of receiver coordinate system 20, therefore can obtain the three-dimensional position of these laser faculas through the pinhole imaging system mathematical model with respect to receiver coordinate system 20; Perhaps adopt direct calibration method,, directly demarcate and note it at the coordinate of corresponding point in receiver coordinate system 20 on the projection panel 21 promptly for each pixel on the image-forming electron device 222.The size of supposing projection panel 21 is 100mm * 100mm; The pel array of image-forming electron device 222 is 1024 pixels * 1024 pixels; The visual field size of image-generating unit 22 equates basically that with the projection panel size then the vision addressability of image-forming electron device 222 is less than 0.1mm.
Obtain image-generating unit through hypothesis receiver coordinate system with respect to the six-dimensional pose of global coordinate system again and demarcate the laser facula that obtains or laser stripe with respect to the world coordinates value in the global coordinate system.Because receiver coordinate system 20 is six known variables (x, y, z with respect to the pose of global coordinate system 10; α, beta, gamma); If the relative coordinate of a known laser facula in receiver coordinate system 20 (X ', Y ', Z '); Can according to following homogeneous coordinate transformation obtain the three-dimensional world coordinates of this laser facula in global coordinate system 10 (X, Y, Z):
X Y Z 1 = Trans ( x , y , z ) Rot ( Z , γ ) Rot ( X , β ) Rot ( Z , α ) X ′ Y ′ Z ′ 1
Wherein (Z, γ) (X, β) (Z α) representes elder generation around the Z of global coordinate system axle rotation alpha angle to Rot to Rot to Rot, and then around X axle rotation β angle, around Z axle rotation γ angle, (x, y z) represent along vector [x, y, z] translation Trans again.Therefore can obtain
X Y Z 1 = r 11 r 12 r 13 x r 21 r 22 r 23 y r 31 r 32 r 33 z 0 0 0 1 X ′ Y ′ Z ′ 1
Wherein,
r 11＝cos?γ?cos?α-cos?β?sin?α?sin?γ
r 12＝cos?γ?sin?α+cos?β?cos?α?sin?γ
r 13＝sin?γ?sin?β
r 21＝-sin?γ?cos?α-cos?β?sin?α?cos?γ
r 22＝-sin?γ?sin?α+cos?β?cos?α?cos?γ
r 23＝cos?γ?sin?β
r 31＝sin?β?sin?α
r 32＝-sin?β?cos?α
r 33＝cos?β
It is thus clear that the relative coordinate of a given laser facula in receiver coordinate system 20 (X ', Y ', Z '), the world coordinates (X of this laser facula in global coordinate system 10; Y, Z) respectively corresponding three six-dimensional poses with receiver coordinate system 20 (x, y, z; α, beta, gamma) be the function expression of variable.
Math equation and the image-generating unit of straight line or the plane of setting up the laser structure photogenerated through the synchronous triggering measuring process at last in global coordinate system demarcated the laser facula that obtains or laser stripe with respect to the restriction relation between the world coordinates value of global coordinate system, finds the solution restriction relation and draws the pose of receiver coordinate system with respect to global coordinate system.Because three hot spots 32,42,52 must lay respectively on the corresponding straight line of three laser beam, the function expression that the three-dimensional world coordinates of three hot spots is corresponding is two equations of the corresponding laser beam of substitution respectively, can obtain to have six equations of six variablees,
a 31 x 32 + b 31 y 32 + c 31 z 32 + d 31 = R ( x , y , z , α , β , γ ) = 0 e 31 x 32 + f 31 y 32 + g 31 z 32 + h 31 = S ( x , y , z , α , β , γ ) = 0
a 41 x 42 + b 41 y 42 + c 41 z 42 + d 41 = T ( x , y , z , α , β , γ ) = 0 e 41 x 42 + f 41 y 42 + g 41 z 42 + h 41 = O ( x , y , z , α , β , γ ) = 0
a 51 x 52 + b 51 y 52 + c 51 z 52 + d 51 = P ( x , y , z , α , β , γ ) = 0 e 51 x 52 + f 51 y 52 + g 51 z 52 + h 51 = Q ( x , y , z , α , β , γ ) = 0
In above six equations, the world coordinates of supposing laser facula 32 is (x 32, y 32, z 32), the world coordinates of laser facula 42 is (x 42, y 42, z 42), the world coordinates of laser facula 52 is (x 52, y 52, z 52), obviously they all are that six-dimensional pose (x, y, z, α, beta, gamma) with receiver coordinate system 20 is the function expression of variable.
Find the solution the system of equations that above six equations form and to obtain the six-dimensional pose (x, y, z, α, beta, gamma) of receiver coordinate system 20 with respect to global coordinate system 10.The algorithm of solving equation group can be the classical inferior method of newton-pressgang, various best practice, Homotopy Method and interval analysis method or the like.
In fact, the restriction relation that above-mentioned laser facula must lay respectively on the corresponding straight line of laser beam can adopt other expressions, and for example the distance of 32,42,52 and three laser beam of three hot spots equals zero, and obtains different math equations.Receiver coordinate system 20 also can adopt other equivalently represented methods to represent with respect to the six-dimensional pose of global coordinate system 10; For example three-dimensional position adopts (x, y, z) expression; And 3 d pose (α; Beta, gamma) adopt Quaternion Representation, perhaps the unified biquaternion that adopts of three-dimensional position and 3 d pose is represented.
Workflow synoptic diagram when Fig. 2 carries out actual measurement for the six-dimensional pose measuring equipment comprises the step of transit pose self-calibration and the step that synchronous triggering is measured.This workflow makes an explanation to first instance, still can promote other instances of stating after being used for.Suppose that receiver 2 can be placed on an initial position, when this initial position, receiver coordinate system 20 overlaps with global coordinate system 10.At first need demarcate the six-dimensional pose of three transits 3,4,5, have 18 known variables, therefore need to make up at least ten eight equations and just can obtain a determinacy system of equations, thereby solve this 18 variablees.Concrete workflow is following:
At first carry out the step of transit pose self-calibration method.In step 101, three transits 3,4,5 are fixed on ground.Step 102 moves to initial position with receiver 2, and receiver coordinate system 20 is overlapped with global coordinate system 10.In step 103, level angle and the pitching corner of regulating transit 3,4,5 drop on the projection panel 21 of receiver 2 laser beam.In step 104, calculation processing unit 1 sends trigger pip and gives transit 3,4,5 and receiver 2 respectively.In step 105; Transit 3,4,5 will trigger level angle and pitch angle data constantly and send to calculation processing unit 1; Meanwhile the image-generating unit 22 of receiver 2 triggers high-speed shutter; Catch the light spot image on the projection panel 21, and will calculate the laser facula that obtains and send to calculation processing unit 1 with respect to the local coordinate value of receiver coordinate system 10.Be positioned at the restriction relation on the laser straight line according to laser facula at step 106 calculation processing unit 1; With function expression substitution laser lines or the math equation on structured light plane of laser facula in global coordinate system, 18 pose parameters setting up with three transits are 1-6 equation of known variables.Execution in step 103 for the second time, level angle and the pitching corner of regulating transit 3,4,5 be to second group of numerical value, but still laser beam is dropped on the projection panel of receiver.Execution in step 104,105 and 106 successively obtains 7-12 equation then.Carry out repeating step 103 for the third time, regulate level angle and three groups of numerical value of pitching corner to the of transit 3,4,5, but still laser beam is dropped on the projection panel of receiver.Execution in step 104,105 and 106 successively obtains 13-18 equation then.In step 107, find the solution system of equations with 18 variablees and 18 equations, draw the pose parameter of three transits with respect to global coordinate system 10, accomplish transit pose self-calibration.
Carry out the step that synchronous triggering is measured then.In step 108, receiver 2 is fixedly mounted on the mobile object to be measured.In step 109, start automatic tracking control algorithm, the level angle of control transit 3,4,5 and the motion that the pitching corner comes tracking receiver 2 drop on the projection panel 21 of receiver 2 laser beam.Repeating step 104, step 105 and step 106 in step 110, are found the solution six equations that obtain in step 106 then, obtain the six-dimensional pose of receiver coordinate system 20 in global coordinate system 10.After this execution in step that circulates 109, step 104, step 105, step 106 and step 110 can obtain the six-dimensional pose of receiver coordinate system 20 in global coordinate system 10 continuously.
The flow process brief introduction of the above-mentioned automatic tracking control algorithm that makes 2 motions of the automatic tracking receiver of transit is following; When each the measurement; Calculate the current pose of receiver 2 by calculation processing unit 1; Current pose and receiver 2 are drawn the movement velocity of receiver 2 in the difference of last pose when once measuring divided by the SI, further according to the movement velocity of receiver 2 infer receiver 2 when measuring next time with the pose that arrives, calculating all transits 3,4,5 needs the new angle position that arrives; Still drop on the projection panel 21 of receiver 2 with assurance laser facula 32,42,52, and the corner instruction is sent to corresponding transit 32,42,52.Find the solution the movement velocity of receiver 2 and can also utilize receiver 2 movement locus before, obtain through filtering and Forecasting Methodology.
The method that above-mentioned synchronous triggering measuring method also can adopt continuous coverage and measured value interpolation to combine replaces; Be that calculation processing unit 1 needn't send trigger pip to transit 3,4,5 and receiver 2; And transit 3,4,5 sends to calculation processing unit 1 with the latest datas of the level angle and the angle of pitch continuously, and receiver 2 also will calculate the laser facula of acquisition continuously and send to calculation processing unit 1 with respect to the up-to-date local coordinate value of receiver coordinate system 10.Calculation processing unit 1 basis numerical value that receives and the time interpolator that receives numerical value go out the numerical value of corresponding certain fixed time, and the numerical value that further goes out according to interpolation is set up system of equations and solved the six-dimensional pose of receiver coordinate system 20 in global coordinate system 10.
Positional accuracy measurement of this equipment and attitude measurement accuracy can reach following index: when adopting the high precision angular encoder, the corner dynamic measurement precision of plain transit can reach 2 " below, corner static measurement precision can reach 1 " below.The corner accuracy of the transit of supposing to be adopted is 2 ", the distance of transit and Measuring Object is 10m, transit emitted laser bundle at the fiducial interval radius of 10m distance less than 0.1mm.And adopt the image resolution ratio of image-generating unit to reach easily below the 0.1mm, for example adopting the image-forming electron device shooting area of 1024 pixels * 1024 pixels is the projection panel of 50mm * 50mm, can obtain the resolution of 0.05mm.Adopt the present invention program, the shutter time shutter of the transmission delay of trigger pip and image-generating unit can reach 10 μ s magnitudes, and when moving object speed was 1m/s, the measured deviation of image-generating unit was the 0.01mm magnitude.Because the present invention adopts many set of equations to find the solution, and has the advantages that similar parallel institution kinematics is inverted and separated, the error in pointing of a plurality of laser beam is not accumulated, so the positional accuracy measurement of present device can reach the 0.1mm magnitude.The projection panel of known receiver is of a size of 50mm * 50mm; Suppose that laser facula is irregular and drop on the projection panel; Wherein the minor increment between the geometric center of gravity of all laser faculas and whole laser faculas is 5mm; Then in the 10m distance, attitude measurement accuracy can reach (0.1/5) * (180 °/π)=1.14 °, i.e. 1 ° of magnitude.After in the 8th instance stating, three receivers are being installed in the moving object and are being made the distance between the receiver reach 50mm, the attitude measurement accuracy of present device can reach 0.1 ° of magnitude.The projection panel 21 of this instance can only receive from around laser beam, and can not receive laser beam from the above and below, therefore can measured motion attitude variation range less, generally about 100 °.After state and will introduce the bigger receiver of some attitude measurement scopes in the instance.
The tracking performance of the automatic tracking Control step of this equipment can reach following index: the control cycle of supposing automatic tracking control algorithm is 100Hz; The distance of moving object and transit is 10m; When the moving object movement velocity is 1m/s; At each control cycle, the prediction accuracy of moving object displacement is 10 ± 2mm.Level angle and the pitching corner of supposing transit adopt position closed loop control, and when adopting servomotor and mechanical drive mode, the control accuracy of corner is ± 0.05 °, so the accuracy of laser facula drop point on projection panel is 9mm.The projection panel of supposing receiver is of a size of 50mm * 50mm; Each control cycle can be controlled laser facula, and to drop on the projection panel center be the center of circle and radius is in the circle of 19mm; Be that laser facula drops on the projection panel all the time, thus this equipment can tracking range outside 10 meters, movement velocity is in the moving object of 1m/s.When measuring distance is the moving object of 100m; Can adopt piezoelectric ceramic motor or direct drive motor to improve transit corner control accuracy; The corner control accuracy can reach ± below 0.005 °, can also guarantee to follow the tracks of accurately with measures such as increasing the projection panel size through the control cycle of shortening tracking Control simultaneously.
Second instance of the six-dimensional pose measuring equipment that proposes for the present invention shown in Figure 3, this equipment is made up of a calculation processing unit 1, a receiver 2 and three transits 3,4,5.Different with first instance is, generating laser 30,40,50 emissions in this equipment on three transits 3,4,5 be the laser wire harness 33,43,53 that generates the strip light plane.Receiver 2 in this equipment has adopted hexahedral shape; Image-generating unit in the receiver 2 also adopts another kind of mode; Promptly do not adopt image-forming electron device based on lens imaging; But sensitometry device 23,24,25 etc. directly is installed on projection panel 21, the sensitometry device can comprise photosensitive sensors such as one or more PSD, CCD, CMOS.The common cover tape of sensitometry apparatus surface is led to filter glass, only allows the laser of the laser wavelength that adopts to pass through, and reduces ambient light effects, thereby improves image.The thickness requirement of filter glass is thinner, avoids because the refractive effect measuring accuracy.
The principle of work of this instance and first instance are basic identical: laser wire harness 33,43,53 generates three optical planes; Just can obtain the equation of optical plane in global coordinate system 10 of three laser wire harness, 33,43,53 correspondences according to the measured value of transit level angle and pitching corner; The corresponding equation of the optical plane that each laser wire harness generates, suppose that optical plane 33,43,53 corresponding algebraic equations are respectively:
a 33x+b 33y+c 33z+d 33＝0
a 43x+b 43y+c 43z+d 43＝0
a 53x+b 53y+c 53z+d 53＝0
The coefficient of above-mentioned equation only depends on the pose of transit 3,4,5 in global coordinate system 10 and the outer corner measurement value of transit 3,4,5.
Laser wire harness 33,43,53 drops on and forms at least three laser stripes 26,27,28 on the sensitometry device 23,24,25. Sensitometry device 23,24,25 etc. can obtain laser stripe 26,27,28 pixel coordinates with respect to sensitometry device benchmark; Because sensitometry device 23,24,25 positions with respect to receiver coordinate system 20 are to immobilize and can pass through scaling method to obtain, and therefore can obtain the three-dimensional position of these laser stripes with respect to receiver coordinate system 20.The world coordinates of each point in global coordinate system 10 on the laser stripe all is to be the function representation formula of variable with receiver coordinate system 20 six-dimensional poses.On laser stripe 26,27,28, choose two points respectively, altogether six points.These six points lay respectively on the optical plane 33,43,53, therefore can obtain to have six equations of six variablees.The system of equations of finding the solution this equation composition can obtain the six-dimensional pose of receiver coordinate system 20 with respect to global coordinate system 10.Adopting the benefit of laser wire harness is on every laser stripe, to choose plural point, thereby obtains more equation of constraint, improves accuracy and reliability that system of equations is found the solution.
The 3rd instance of the six-dimensional pose measuring equipment that proposes for the present invention shown in Figure 4, this equipment is made up of a calculation processing unit 1, a receiver 2 and two transits 3,4.Wherein the laser wire harness 33 that generates optical plane is launched in the emission of the generating laser on the transit 3 30, and at least two laser beam 41,42 of the emission of the generating laser on the transit 4 40 emissions.Be not difficult to obtain having six equations of six variablees according to the analytical approach of two instances in front, so can obtain the six-dimensional pose of receiver coordinate system 20 with respect to global coordinate system 10.
The 4th instance of the six-dimensional pose measuring equipment that proposes for the present invention shown in Figure 5, this instance has the less characteristics of number of components.This equipment is made up of a calculation processing unit 1, a receiver 2 and a transit 6.Transit 6 is to have increased a pitch rotation degree of freedom with the difference of aforementioned transit 3,4,5, on two pitch rotation degree of freedom, is separately installed with generating laser 60,61.Generating laser 60 is launched two laser beam 62,63, and generating laser 61 is launched two laser beam 64,65.Laser beam 62,63,64,65 drops on and forms four hot spots on the projection plate 21 of receiver 2.Be not difficult to obtain having eight equations of six variablees according to the analytical approach of first instance, so can obtain the six-dimensional pose of receiver coordinate system 20 with respect to global coordinate system 10.Point out at this,, adopt four laser beam to help improving the accuracy and the robustness of measuring results though three laser beam can obtain having six equations of six variablees.Radio communication 12 ' replacements communications cable 12 is adopted in communicating by letter between receiver 2 and the calculation processing unit 1, thereby avoids the movement interference of the moving object 8 and the communications cable 12.
The 5th instance of the six-dimensional pose measuring equipment that proposes for the present invention shown in Figure 6, the difference of this instance and the 4th instance is that the projection panel 21 on the receiver 2 be the dome shape curved surface, adopts than the scattering light transmissive material that approaches.The laser facula that image-generating unit 22 occurs from projection panel 21 inside photographing projection panel 21.The imaging lens 221 of image-generating unit 22 adopts the wide-angle close-up lenses, and for example casual labourer makes the wide-angle close-up lens of distance about 10～200mm.Be not difficult to obtain having eight equations of six variablees according to the analytical approach of first instance, so can obtain the six-dimensional pose of receiver coordinate system 20 with respect to global coordinate system 10.Compare with first instance, the projection panel of this instance can receive from wider laser, can measured motion attitude variation range can reach more than 270 °.
The 6th instance of the six-dimensional pose measuring equipment that proposes for the present invention shown in Figure 7, the difference of this instance and the 4th instance be, have on the receiver 2 two projection panel 21 and 21 ', and two image-generating units 22 and 22 '.Projection panel 21 and projection panel 21 ' all be the curved surface shell; Wherein projection panel 21 adopts thin scattering light transmissive material; And the relative thicker scattering light transmissive material of projection panel 21 ' employing, all some laser is reflected on two projection panel, and another part laser passes through.Generating laser 60,61 on the transit 6 is launched two laser point bundles 62,64.Laser point bundle 62 projection panel 21 and 21 ' on form two laser faculas 66,67 respectively, laser point bundle 64 projection panel 21 and 21 ' on form two laser faculas 68,69 respectively.Image-generating unit 22 is taken the laser facula on the projection panel 21, and imaging unit 22 ' shooting projection panel 21 ' on laser facula.Be not difficult to obtain having eight equations of six variablees according to the analytical approach of first instance, so can obtain the six-dimensional pose of receiver coordinate system 20 with respect to global coordinate system 10.In fact; Because projection panel 21 is thin scattering light transmissive materials; Projection panel 21 ' on hot spot also possibly see through projection panel 21 and in image-generating unit 22, form images; So image-generating unit 22 ' can omit, in this case, require the image processing algorithm of image-generating unit 22 can get rid of because the interference hot spot that multipath reflection forms.
The 7th instance of the six-dimensional pose measuring equipment that proposes for the present invention shown in Figure 8, this equipment is made up of through the transit of simplifying 9,11 calculation processing unit 1, a receiver 2 and two structures.The pitching degree of freedom of the transit 9,11 in this equipment is fixed or is removed, and receiver 2 has adopted hexahedral shape.9,11 in transit has one and horizontally rotates degree of freedom.Generating laser 91,111 is installed on the transit 9,11.Generating laser 91 is launched the laser wire harness 92 on a sectored light plane, and generating laser 111 is launched the laser wire harness 112 on a sectored light plane, and laser wire harness 92 is perpendicular to the ground usually with laser wire harness 112.Laser wire harness 92 projects and generates two sections laser stripes 93,94 on the projection panel 21 on the receiver 2, and laser wire harness 92 projects and generates two sections laser stripes 113,114 on the projection panel 21.Be not difficult to obtain having eight equations of six variablees according to the analytical approach of second instance, so can obtain the six-dimensional pose of receiver coordinate system 20 with respect to global coordinate system 10.
The 8th instance of the six-dimensional pose measuring equipment that proposes for the present invention shown in Figure 9.Three transits 3,4,5 fix on the ground, are arranged to triangle usually.Three receivers placed apart 20,20a, 20b are installed on the mobile object 8; Receiver 20 and calculation processing unit 1 be through radio communication 12 ' be connected, and is connected through wire communication or communication between receiver 20a, 20b and the receiver 20.Wherein receiver 2 corresponding receiver coordinate systems 20 are O '-X ' Y ' Z ', and the receiver coordinate system 20a that receiver 2a is corresponding is O ＂-X ＂ Y ＂ Z ＂, and the receiver coordinate system 20b that receiver 2b is corresponding is O ＂ '-X ＂ ' Y ＂ ' Z ＂ '.Be separately installed with a generating laser 30,40,50 on the transit 3,4,5.Generating laser 30,40,50 is all launched at least one laser beam, is respectively 31,41,51.It is last that laser beam 31,41,51 drops on projection panel 21,21a, the 21b of receiver 2,2a, 2b respectively, generates three laser faculas 32,42,52.When actual measurement, each transit preferentially project laser structure light nearer apart from this transit and also the receiver that is not blocked on.Because the distance between the receiver 20 in this instance, 20a, the 20b much larger than the size of receiver, therefore obtains attitude measurement result more accurately usually.
The principle of work of this instance is following: before actual measurement, demarcate the relative pose between each receiver earlier.Choosing receiver 2 is main receiver; Make moving object 8 fixed; And measure all receiver coordinate systems 20,20a, 20b six-dimensional pose with respect to global coordinate system 10, can obtain the last receiver coordinate system 20a of other two receiver 2a, 2b, 20b relative six-dimensional pose through transformation matrix of coordinates with respect to the receiver coordinate system 20 of main receiver 2.When actual measurement; Moving object 8 setting in motions; Receiver 2a will take and handle the coordinate figure of laser facula 42 on this receiver coordinate system 20a that obtains and send to receiver 20; Receiver 2b will take and handle the coordinate figure of laser facula 52 on this receiver coordinate system 20b that obtains and send to receiver 20; Receiver 20 is according to receiver coordinate system 20a, the 20b position orientation relation with respect to receiver coordinate system 20; Obtain receiver 2a, the last local coordinate of laser facula 42,52 in receiver coordinate system 20 of 2b, adopt the system of equations construction method of discussing in first instance to calculate the six-dimensional pose of receiver coordinate 20 then with respect to global coordinate system 10.
Though it is pointed out that eight instances that only provided the six-dimensional pose measuring equipment here, make up through parts and can obtain more instance to above-mentioned instance.In addition, in above-mentioned eight instances, transit is installed on the fixed bottom boundary, and receiver is installed in the moving object to be measured, but also can be with a kind of being installed in the moving object to be measured in transit and the receiver, and another kind is installed on the fixed bottom boundary.

Claims (5)

1. method of measuring six-dimensional pose of moving object; It is characterized in that: through the position angle of automatic tracking Control step control transit; Make the generating laser of transit point to the projection panel of receiver all the time; Generating laser emission laser lines or laser plane are incident upon on the projection panel, produce laser facula or laser stripe; Demarcation through pair warp and weft appearance pose obtains the pose of transit with respect to the global coordinate system that fixes on the ground again, and further the rotational transform matrix through transit obtains generating laser emitted laser lines or the math equation of laser plane in global coordinate system; To the laser facula on the projection panel or laser stripe is taken and Flame Image Process, obtain the pixel coordinate of laser facula or the reflection of laser stripe in image-generating unit through image-generating unit; Through the scaling method of image-generating unit being obtained on the image-generating unit each pixel coordinate, utilize one-to-one relationship acquisition laser facula or the laser stripe of pixel coordinate and receiver coordinate system position local coordinate value with respect to the receiver coordinate system with respect to the position of receiver coordinate system; Obtain image-generating unit with respect to the six-dimensional pose of global coordinate system and demarcate the laser facula that obtains or laser stripe through setting the receiver coordinate system with respect to the world coordinates value in the global coordinate system; Math equation and the image-generating unit of straight line or the plane of setting up the laser structure photogenerated through the synchronous triggering measuring process then in global coordinate system demarcated the laser facula that obtains or laser stripe with respect to the restriction relation between the world coordinates value of global coordinate system, finds the solution restriction relation and draws the pose of receiver coordinate system with respect to global coordinate system; Wherein: the receiver coordinate system is O '-X ' Y ' Z ', is fixed on the receiver, and global coordinate system is O-XYZ, fixes on the ground.
2. by the described method of claim 1, it is characterized in that: said demarcation to image-generating unit is to demarcate projection panel and image-generating unit position and the attitude with respect to the receiver coordinate system through external unit.
3. by the described method of claim 1, it is characterized in that: the outside demarcation or the self-calibration dual mode adopted in the demarcation of said transit pose; Outside scaling method is demarcated by external unit; The self-calibration method is through fixing receiver, let the mode of rotation of transit obtain transit with respect to the fixing pose of global coordinate system in ground; Be specially: receiver is fixed; Make the level angle of transit choose one group of above different array with the pitching corner; Every group of numerical value for choosing is all carried out following steps: the fixing corner of transit; Transit sends to calculation processing unit with level angle and pitch angle data, and calculation processing unit calculates the math equation of laser lines or laser plane with respect to the pose of global coordinate system and level angle and pitch angle data according to transit; Simultaneously receiver will be taken the laser facula of acquisition and send to calculation processing unit with respect to the local coordinate value of receiver coordinate system; Calculation processing unit is variable with the receiver coordinate system with respect to the six-dimensional pose of global coordinate system, obtains the function expression of laser facula in global coordinate system according to the pose coordinate transform; Calculation processing unit is positioned at the constraint condition on laser lines or the structured light plane according to laser facula; With function expression substitution laser lines or the math equation on structured light plane of laser facula in global coordinate system; Foundation is a plurality of equations of known variables with the transit six-dimensional pose; Each above-mentioned steps of carrying out obtains several equations; The synthetic system of equations of the equation that all corner arrays are corresponding is found the solution this system of equations and is obtained all transits with respect to the fixing pose of global coordinate system in ground.
4. by the described method of claim 1; It is characterized in that: the concrete steps that said synchronous triggering is measured are: calculation processing unit sends trigger pip and gives transit and receiver respectively; Level angle and pitch angle data that transit will trigger constantly send to calculation processing unit, and calculation processing unit calculates the math equation on laser lines or structured light plane with respect to the pose of global coordinate system and level angle and pitch angle data according to transit; Simultaneously receiver will trigger the laser facula that calculates acquisition constantly and send to calculation processing unit with respect to the local coordinate value of receiver coordinate system; Calculation processing unit is variable with the receiver coordinate system with respect to the six-dimensional pose of global coordinate system, obtains the function expression of laser facula in global coordinate system according to coordinate transform; Calculation processing unit is positioned at the constraint condition on laser lines or the structured light plane according to laser facula; With function expression substitution laser lines or the math equation on structured light plane of laser facula in global coordinate system; Foundation is the system of equations of known variables with receiver coordinate system six-dimensional pose, finds the solution this system of equations and obtains three-dimensional position and the 3 d pose of receiver coordinate system with respect to global coordinate system.
5. by the described method of claim 1; It is characterized in that: the performing step of said automatic tracking Control is specially: by the movement velocity of calculation processing unit according to the current pose of receiver and the receiver of pose calculating before; Infer that according to the movement velocity of receiver next sampling instant receiver is with the pose that arrives; Calculate the new angle position that transit need arrive; And the instruction of new corner sent to corresponding transit, transit is according to the new angle position of new its level angle of corner instruction control and the arrival of pitching corner to needs.
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